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At least 379 records · Page 21

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NASA NTRS2009

The Thermal Electrical Conductivity Probe (TECP) for Phoenix

The Thermal and Electrical Conductivity Probe (TECP) is a component of the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA) payload on the Phoenix Lander. TECP will measure the temperature, thermal conductivity and volumetric heat capacity of the regolith. It will also detect and quantify the population of mobile H2O molecules in the regolith, if any, throughout the polar summer, by measuring the electrical conductivity of the regolith, as well as the dielectric permittivity. In the vapor phase, TECP is capable of measuring the atmospheric H2O vapor abundance, as well as augment the wind velocity measurements from the meteorology instrumentation. TECP is mounted near the end of the 2.3 m Robotic Arm, and can be placed either in the regolith material or held aloft in the atmosphere. This paper describes the development and calibration of the TECP. In addition, substantial characterization of the instrument has been conducted to identify behavioral characteristics that might affect landed surface operations. The greatest potential issue identified in characterization tests is the extraordinary sensitivity of the TECP to placement. Small gaps alter the contact between the TECP and regolith, complicating data interpretation. Testing with the Phoenix Robotic Arm identified mitigation techniques that will be implemented during flight. A flight model of the instrument was also field tested in the Antarctic Dry Valleys during the 2007-2008 International Polar year. 2

Zent, Aaron P.↗

NASA NTRS2020

How Long Is Too Long? Variogram Analysis of AERONET Data to Aid Aerosol Validation and Intercomparison Studies

Geophysical data sets derived from satellite sensors, ground/airborne instrumentation, and computational models are often compared against each other. A common example is the validation of satellite aerosol optical depth (AOD) retrievals against measurements from Aerosol Robotic Network (AERONET) Sun photometers. Spatiotemporal mismatch between data set sampling means that uncaptured variation in the underlying geophysical field introduces apparent disagreement into such comparisons, known as representation or collocation matchup uncertainty. This study uses variogram analysis of AERONET data to estimate temporal mismatch uncertainties and decorrelation time scales for the global AERONET record. As well as total AOD, the fine‐ and coarse‐mode AODs, Ångström Exponent (AE), and fine‐mode fraction (FMF) of AOD are analyzed. Globally, a time difference of 30 min typically induces from 0.011–0.035 variation in AOD. For total, fine, and coarse AODs the typical time to decorrelation is around 2–10 days. For AE and FMF it is 3–33 days; that is, aerosol systems often persist significantly longer than individual events in them. Biomass burning regions tend to show the largest and fastest subdaily AOD variability and also longest times to decorrelation. Some sites show significant season‐to‐season variations in behavior. These results can be used to inform site‐specific time collocation thresholds for aerosol validation analyses and account for temporal variation when estimating data set uncertainty. They also have implications for comparisons between different satellite products or models, data aggregation, and time series analyses. Results are provided on a site‐by‐site basis to facilitate use by other researchers.

satellite↗

NASA NTRS2024

Deployed Electromagnetic Radiation Deflector Shield Creating a Zone of Minimum Radiation and Magnetic/Plasma Effects for Spacecraft

Spaceflight outside of the Earth's protective magnetic field is dangerous from a cosmic radiation perspective. Inside Earth's magnetic field, where the manned International Space Station (ISS) orbits, the radiation encountered is minimal and almost all is deflected by our planet's magnetic fields. However, outside that protective shield, the Sun's solar wind (high energy radiation, solar energetic particles or SEPs) consisting of protons, electrons, alpha particles and plasmas continuously bombards the spacecraft for the months or years of spaceflight. On occasion the Sun produces a CME (Coronal Mass Ejection) that vastly increases the energy and volume of this radiation. These particles damage human DNA as well as living tissue and can destroy sensitive electronics. The Deployed Electromagnetic Radiation Deflector Shield (DERDS) provides a magnetic field that will deflect SEPs and CMEs and other harmful solar and cosmic rays away from a manned spacecraft, robotic spacecraft, or manned extra-planetary base stations using an electromagnet that is deployed between the spacecraft/station and the source of radiation and creates a magnetosphere or zone of minimal radiation in which the spacecraft or base station would reside.

Patent↗

NASA NTRSDate not supplied

Feasibility Study of a Robotic Science Arm on Future Martian Rotorcraft

Science arms are indispensable tools for planetary exploration, allowing vehicles to interact with and manipulate their surroundings in a manner similar to a human field geologist. A majority of the rovers and landers sent to Mars, beginning with Viking I and II in 1976, have made extensive use of these articulated, arm-like devices that allow for sample collection, surface preparation, instrument positioning, and the deployment of ground-contact sensors. Although proven useful, traditional rovers and landers are limited by the rough and difficult terrain of Mars. However, given the successful demonstration of flight on Mars by the Ingenuity helicopter, efforts are underway to outfit larger rotorcraft with science payloads to allow them to explore Mars’ surface and lower atmosphere with significantly more efficiency than land vehicles. Such vehicles could also be designed to work in tandem with landers or rovers. The Mars Science Helicopter (MSH) is a conceptual hexacopter design that is currently under early development by both NASA Ames and JPL. Equipping a vehicle like MSH with a science arm has the potential to further expand its scientific capabilities. This paper approaches the mission and design requirements to equip a science arm on MSH while highlighting the unique technical challenges for robotic arm and science instrument capability. Current plans for MSH development do not include the addition of a robotic arm to the vehicle. However, it is anticipated that future variants of the MSH design might well incorporate such adaptable surface interactive capabilities.

Robotic Science Arm↗

NASA NTRS1991

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Nicewarner, Keith E.↗

NASA NTRS1992

Efficient visual grasping alignment for cylinders

Nicewarner, Keith E.↗

NASA NTRSDate not supplied

Towards Erecting Straighter Lightweight Towers on the Moon Using Deployable Guy Wires

This paper reports our static stability test findings for a simple guy wire system to correct the natural lateral deflections of an 8.5m tall, compact deployable composite tower intended to support exploration of lunar permanently shadowed regions by nearby robotic assets. Deployable composite booms with microgravity flight heritage are currently being investigated at NASA Langley Research Center (LaRC) and Massachusetts Institute of Technology(MIT)’s Space Resources Workshop for their potential to be vertically deployed in the lunar gravity field, in support of NASA’s Artemis campaign. These applications include vertical solar arrays and the provision of elevated lines-of-sight to science or engineering payloads on landers and rovers, in support of nearby or distant crewed or robotic assets exploring scientifically interesting and hard to reach areas. Useful elevated payloads include radio repeaters, remote sensing and imaging, navigation and power beaming systems. However, while these lightweight booms have an excellent height to mass ratio, they typically exhibit slight axial curvature upon deployment resulting in appreciable lateral dead-load deflection of the tip mass relative to the tower base. This static deflection increases with tower height and tip mass, not only constraining the value delivered by the tower but also endangering its integrity. To develop a competitive, lightweight deployable composite boom tower, a capability to correct static deflections during and after deployment may be required. This paper presents a pathfinder deployable guy wire stability system for the MIT / LaRC self-erecting composite boom lunar tower that provides real time measurements, maintains tension passively, and can serve as a reconfigurable platform to test new guy wire components, configurations and control algorithms. Using a validated, calibrated photogrammetry system, the natural lateral deflection of the boom tip relative to the boom base at different deployed heights in Earth’s gravity field was recorded. With real-time tension measurements it was found that guy wires can significantly reduce the tip deflection of a deployable composite boom under dead load. Specifically, we found that (1) control capability is greatest where it is needed most, i.e. for the lever arm closest to being opposite the direction of deflection, and (2) for a tower height of at least 8.5 m and arm length of at least 60 cm, a solution of differential tension in all three arms exists and, in principle, provides sufficient control capability to correct or significantly reduce boom deflections. We also found that natural deflections occur almost entirely out-of-plane of the seams of the boom cross-section, which was expected, and that the natural boom tip lateral deflection under dead load upon deployment was ~5% of boom deployed length, unexpectedly exceeding the manufacturing acceptance specification of 1%.Ongoing and future collaborative work between LaRC and MIT includes the further investigation of the unexpected lateral deflection, testing of alternative guy wire system designs at higher tensions and higher deployed heights, as well as trade studies of costs and benefits of an optimized integrated guywire system compared to other types of static stability solutions.

lunar towers↗

DOE OSTI2020

Fast and programmable locomotion of hydrogel-metal hybrids under light and magnetic fields

The design of soft matter in which internal fuels or an external energy input can generate locomotion and shape transformations observed in living organisms is a key challenge. Such materials could assist in productive functions that may range from robotics to smart management of chemical reactions and communication with cells. In this context, hydrated matter that can function in aqueous media would be of great interest. Here, we report the design of hydrogels containing a scaffold of high–aspect ratio ferromagnetic nanowires with nematic order dispersed in a polymer network that change shape in response to light and experience torques in rotating magnetic fields. The synergistic response enables fast walking motion of macroscopic objects in water on either flat or inclined surfaces and also guides delivery of cargo through rolling motion and light-driven shape changes. The theoretical description of the response to the external energy input allowed us to program specific trajectories of hydrogel objects that were verified experimentally.

36 MATERIALS SCIENCE↗

NASA NTRS1992

Return to the Moon: Lunar robotic science missions

There are two important aspects of the Moon and its materials which must be addressed in preparation for a manned return to the Moon and establishment of a lunar base. These involve its geologic science and resource utilization. Knowledge of the Moon forms the basis for interpretations of the planetary science of the terrestrial planets and their satellites; and there are numerous exciting explorations into the geologic science of the Moon to be conducted using orbiter and lander missions. In addition, the rocks and minerals and soils of the Moon will be the basic raw materials for a lunar outpost; and the In-Situ Resource Utilization (ISRU) of lunar materials must be considered in detail before any manned return to the Moon. Both of these fields -- planetary science and resource assessment -- will necessitate the collection of considerable amounts of new data, only obtainable from lunar-orbit remote sensing and robotic landers. For over fifteen years, there have been a considerable number of workshops, meetings, etc. with their subsequent 'white papers' which have detailed plans for a return to the Moon. The Lunar Observer mission, although grandiose, seems to have been too expensive for the austere budgets of the last several years. However, the tens of thousands of man-hours that have gone into 'brainstorming' and production of plans and reports have provided the precursor material for today's missions. It has been only since last year (1991) that realistic optimism for lunar orbiters and soft landers has come forth. Plans are for 1995 and 1996 'Early Robotic Missions' to the Moon, with the collection of data necessary for answering several of the major problems in lunar science, as well as for resource and site evaluation, in preparation for soft landers and a manned-presence on the Moon.

Taylor, Lawrence A.↗

DOE OSTI2020

Integrating Commercial Ready Autonomous Robotic Platforms to Enhance Worker Safety and Efficiency - 20053

This paper will explore the challenges and triumphs of implementing advanced robotic systems and the supporting technology for the waste management industry. Deployment-ready solutions for autonomous robotic platforms are new to the radioactive waste management industry and have been slow to implement across the complex. Specifically, it will explore Hanford Tank Operations Contractor's implementation of ground-based autonomous robotic platforms to enhance workforce safety and efficiency. The first objective of the project is to demonstrate safe operation of autonomous instrumented robots, followed by a scaling up of capabilities for the platform to meet any additional requests of internal stakeholders. Autonomous robotics platforms offer a fantastic range of capabilities that will aid in decreasing long-term liability of radioactive waste management industry by enhancing clean-up efforts and worker safety. Over the past five years, deployment-ready solutions for autonomous robotic platforms have come a long way. Autonomous robotic platforms are increasingly available to purchase from many vendors, often for prices under $100,000. Additionally, the vendors who produce these products are efficient in accommodating customized solutions to unique challenges, such as those often found in the radioactive waste management industry. However, the newness of this technology to the radioactive waste management industry and has resulted in a slow implementation across the complex. This paper will explore the challenges and triumphs of implementing advanced robotic systems and supporting technology for the waste management industry. Specifically, it will explore Hanford Tank Operations Contractor's implementation of ground based autonomous robotic platforms to enhance workforce safety and efficiency. While the company has utilized robots in many parts of the tank farms mission, this was first attempted in the deployment of an autonomous platform that required no operator with only minor maintenance and created challenges not yet encountered. These challenges included stakeholder buy-in, operational safety, procurement uncertainties, adaption of 'off the shelf products, overcoming the 'Fukushima complexity' perception, security concerns, and the initial criteria down select. Hanford Tank Operations Contractor's management identified the need for a workforce protecting low cost robotics solution in the fall of 2017. The project scope generated was part of the response to the Tank Vapor Assessment Team recommendation to enhance the safety of the workforce by utilizing new technology. Since the projects inception, it has been incorporated into the Tank Stewardship Plan. This project was unique to Hanford Tank Operations Contractor, as the company does not frequently incorporate advanced technology for field deployment quickly. The project was also progressive to the Hanford Tank Operations Contractor as it functions as a partnership project with a local university. The first objective of the project is to demonstrate safe operations of autonomous instrumented robotics, monitoring and collecting data, and the wireless transmission of data to a central computing system. Following the completion of this first objective, the project will scale up capabilities of the platform to meet the requests of additional internal stakeholders throughout the tank farms - including completion of specific in-field tasks. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2014

Mapping Planetary Volcanic Deposits: Identifying Vents and Distingushing between Effects of Eruption Conditions and Local Lava Storage and Release on Flow Field Morphology

Terrestrial geologic mapping techniques are regularly used for "photogeologic" mapping of other planets, but these approaches are complicated by the diverse type, areal coverage, and spatial resolution of available data sets. When available, spatially-limited in-situ human and/or robotic surface observations can sometimes introduce a level of detail that is difficult to integrate with regional or global interpretations. To assess best practices for utilizing observations acquired from orbit and on the surface, our team conducted a comparative study of geologic mapping and interpretation techniques. We compared maps generated for the same area in the San Francisco Volcanic Field (SFVF) in northern Arizona using 1) data collected for reconnaissance before and during the 2010 Desert Research And Technology Studies campaign, and 2) during a traditional, terrestrial field geology study. The operations, related results, and direct mapping comparisons are discussed in companion LPSC abstracts [1-3]. Here we present new geologic interpretations for a volcanic cone and related lava flows as derived from all approaches involved in this study. Mapping results indicate a need for caution when interpreting past eruption conditions on other planetary surfaces from orbital data alone.

Bleacher, J. E.↗

NASA NTRS2014

Mapping Planetary Volcanic Deposits: Identifying Vents and Distinguishing between Effects of Eruption Conditions and Local Storage and Release on Flow Field Morphology

Terrestrial geologic mapping techniques are regularly used for "photogeologic" mapping of other planets, but these approaches are complicated by the diverse type, areal coverage, and spatial resolution of available data sets. When available, spatially-limited in-situ human and/or robotic surface observations can sometimes introduce a level of detail that is difficult to integrate with regional or global interpretations. To assess best practices for utilizing observations acquired from orbit and on the surface, our team conducted a comparative study of geologic mapping and interpretation techniques. We compared maps generated for the same area in the San Francisco Volcanic Field (SFVF) in northern Arizona using 1) data collected for reconnaissance before and during the 2010 Desert Research And Technology Studies campaign, and 2) during a traditional, terrestrial field geology study. The operations, related results, and direct mapping comparisons are discussed in companion LPSC abstracts. Here we present new geologic interpretations for a volcanic cone and related lava flows as derived from all approaches involved in this study. Mapping results indicate a need for caution when interpreting past eruption conditions on other planetary surfaces from orbital data alone.

Bleacher, J. E.↗

DOE OSTI2020

A biomimetic eye with a hemispherical perovskite nanowire array retina

Human eyes possess exceptional image-sensing characteristics such as an extremely wide field of view, high resolution and sensitivity with low aberration1. Biomimetic eyes with such characteristics are highly desirable, especially in robotics and visual prostheses. However, the spherical shape and the retina of the biological eye pose an enormous fabrication challenge for biomimetic devices2,3. In this paper, we present an electrochemical eye with a hemispherical retina made of a high-density array of nanowires mimicking the photoreceptors on a human retina. The device design has a high degree of structural similarity to a human eye with the potential to achieve high imaging resolution when individual nanowires are electrically addressed. Additionally, we demonstrate the image-sensing function of our biomimetic device by reconstructing the optical patterns projected onto the device. This work may lead to biomimetic photosensing devices that could find use in a wide spectrum of technological applications.

42 ENGINEERING↗

NASA NTRS2016

MoonRIDERS: NASA and Hawaiis Innovative Lunar Surface Flight Experiment for Landing in Late 2017

Recently, NASA Kennedy Space Center, Hawaii's state aerospace agency PISCES, and two Hawaii high schools Iolani and Kealakehe have come together in a unique collaboration called MoonRIDERS. This strategic partnership will allow Hawaii students to participate directly in sending a science experiment to the surface of the moon. The MoonRIDERS project started in the spring of 2014, with each institution responsible for its own project costs and activities. PISCES, given its legislative direction in advancing planetary surface systems, saw this collaboration as an important opportunity to inspire a young generation and encourage STEM (Science, Technology, Engineering, and Mathematics) learning. Under the guidance of PISCES and NASA, the students will be involved hands-on from start to finish in the engineering, testing, and validation of a space technology called the Electrodynamic Dust Shield (EDS). Dust is a critical issue for space exploration, as evidenced by the Apollo lunar missions and Mars rovers and landers. Dust creates a number of problems for humans and hardware, including inhalation, mechanical interference, wear and tear on spacesuits, inhibition of heat transfer on radiators, and reduced efficiency of solar panels. To address this, the EDS is designed to work on a variety of materials, and functions by generatingelectrodynamic fields to clear away the dust. The Google Lunar XPRIZE (GLXP), a space competition "designed to inspire pioneers to do robotic space transport on a budget," serves as a likely method for the MoonRIDERS to get their project to the moon. The EDS would potentially be flown as a hosted payload on a competitor's lander (still to be chosen). This briefing will provide an overview of the technology, the unique partnership, progress update and testing leading to this flight opportunity.

Payload experiment↗

NASA NTRS1996

Optical Potential Field Mapping System

The present invention relates to an optical system for creating a potential field map of a bounded two dimensional region containing a goal location and an arbitrary number of obstacles. The potential field mapping system has an imaging device and a processor. Two image writing modes are used by the imaging device, electron deposition and electron depletion. Patterns written in electron deposition mode appear black and expand. Patterns written in electron depletion mode are sharp and appear white. The generated image represents a robot's workspace. The imaging device under processor control then writes a goal location in the work-space using the electron deposition mode. The black image of the goal expands in the workspace. The processor stores the generated images, and uses them to generate a feedback pattern. The feedback pattern is written in the workspace by the imaging device in the electron deposition mode to enhance the expansion of the original goal pattern. After the feedback pattern is written, an obstacle pattern is written by the imaging device in the electron depletion mode to represent the obstacles in the robot's workspace. The processor compares a stored image to a previously stored image to determine a change therebetween. When no change occurs, the processor averages the stored images to produce the potential field map.

Reid, Max B.↗

NASA NTRS2014

Comparing Geologic Data Sets Collected by Planetary Analog Traverses and by Standard Geologic Field Mapping: Desert Rats Data Analysis

Geologic mapping involves interpreting relationships between identifiable units and landforms to understand the formative history of a region. Traditional field techniques are used to accomplish this on Earth. Mapping proves more challenging for other planets, which are studied primarily by orbital remote sensing and, less frequently, by robotic and human surface exploration. Systematic comparative assessments of geologic maps created by traditional mapping versus photogeology together with data from planned traverses are limited. The objective of this project is to produce a geologic map from data collected on the Desert Research and Technology Studies (RATS) 2010 analog mission using Apollo-style traverses in conjunction with remote sensing data. This map is compared with a geologic map produced using standard field techniques.

Feng, Wanda↗

NASA NTRS1989

A tesselated probabilistic representation for spatial robot perception and navigation

The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations.

Elfes, Alberto↗

NASA NTRS2006

Controlling Herds of Cooperative Robots

A document poses, and suggests a program of research for answering, questions of how to achieve autonomous operation of herds of cooperative robots to be used in exploration and/or colonization of remote planets. In a typical scenario, a flock of mobile sensory robots would be deployed in a previously unexplored region, one of the robots would be designated the leader, and the leader would issue commands to move the robots to different locations or aim sensors at different targets to maximize scientific return. It would be necessary to provide for this hierarchical, cooperative behavior even in the face of such unpredictable factors as terrain obstacles. A potential-fields approach is proposed as a theoretical basis for developing methods of autonomous command and guidance of a herd. A survival-of-the-fittest approach is suggested as a theoretical basis for selection, mutation, and adaptation of a description of (1) the body, joints, sensors, actuators, and control computer of each robot, and (2) the connectivity of each robot with the rest of the herd, such that the herd could be regarded as consisting of a set of artificial creatures that evolve to adapt to a previously unknown environment. A distributed simulation environment has been developed to test the proposed approaches in the Titan environment. One blimp guides three surface sondes via a potential field approach. The results of the simulation demonstrate that the method used for control is feasible, even if significant uncertainty exists in the dynamics and environmental models, and that the control architecture provides the autonomy needed to enable surface science data collection.

Quadrelli, Marco B.↗